Intelligent mechanical linkage performance system

Abstract

A work machine having a controller configured to receive a first position signal from a first boom position sensor, a second position signal from a second boom position sensor, and a load signal from the load measuring device, wherein the controller is further configured to calculate a map of hydraulic capacities within an envelope of movement for one or more of a first and a second actuators based on the first position signal, the second position signal, and the load signal, and generate a lift path of movement for the pin through at least a portion of the envelope based on the hydraulic capacities, wherein the movement envelope being smaller than the envelope.

What is claimed is: 
     
       1. A work machine having an intelligent mechanical linkage performance system, the work machine comprising:
 a frame and a ground-engaging mechanism, the ground-engaging mechanism configured to support the frame on a surface; 
 a boom assembly coupled to the frame wherein the boom assembly comprises
 a first section pivotally coupled to the frame and moveable relative to the frame by a first actuator, a first boom position sensor coupled to the first section, and 
 a second section pivotally coupled to the first section and moveable relative to the first section by a second actuator, a second boom position sensor coupled to the second section; 
 
 a load measuring device coupled to the boom assembly, the load measuring device configured to generate a load signal indicative of a payload; 
 a pin coupled to the second section at a location distal from the first section, the pin having an envelope of movement throughout which the pin is moveable by the first section and the second section; and 
 a controller configured to receive a first position signal from the first boom position sensor, a second position signal from the second boom position sensor, and the load signal from the load measuring device,
 wherein the controller is further configured to calculate a map of hydraulic capacities within the envelope of movement for one or more of the first and the second actuators based on the first position signal, the second position signal, and the load signal, and generate a movement envelope of movement of the pin through at least a portion of 
 
 the envelope based on the hydraulic capacities, the movement envelope being smaller than the envelope. 
 
     
     
       2. The work machine of  claim 1 , wherein the pin is coupled to an implement, the implement configured to engage a payload. 
     
     
       3. The work machine of  claim 1 , wherein the map of hydraulic capacities comprises a series of nodes representing the hydraulic capacities of one or more of the first and the second actuators throughout the envelope in real-time. 
     
     
       4. The work machine of  claim 3 , wherein the movement envelope comprises a lift path of the pin from a first pin position to a second pin position through nodes with sufficient hydraulic capacity. 
     
     
       5. The work machine of  claim 1 , wherein the envelope of movement is displayed on a user input interface through a color code, the color code based on a degree of hydraulic capacity. 
     
     
       6. The work machine of  claim 1 , wherein the load measuring device comprises a first load measuring sensor coupled to the first section, and a second load measuring sensor coupled to the second section. 
     
     
       7. The work machine of  claim 1 , wherein the controller further receives an inclination signal from an inclination sensor coupled to the work machine when calculating the map of hydraulic capacities, the inclination sensor determining the inclination of the horizontal longitudinal axis of the work machine and the controller modifying the load signal based on the inclination signal. 
     
     
       8. The work machine of  claim 1 , wherein the controller is configured to inhibit movement of the pin to a plurality of nodes within the envelope of movement, the plurality of nodes having insufficient hydraulic capacity for moving the payload. 
     
     
       9. The intelligent mechanical linkage performance system for a work machine for a payload moving operation, the system comprising:
 a first boom position sensor coupled with a first section of a boom assembly of the work machine for generating a first position signal indicative of a position of a first actuator; 
 a second boom position sensor coupled with a second section of a boom assembly of the work machine for generating a second position signal indicative of a position of a second actuator; 
 a load measuring device coupled to the boom assembly, the load measuring device configured to generate a load signal indicative of a payload; 
 a pin coupled to the second section at a location distal from the first section, the pin having an envelope of movement throughout which the pin is moveable by the first section and the second section; the pin coupled to an implement, the implement configured to engage a payload; and 
 a controller configured to
 receive the first position signal from the first boom position sensor, the second position signal from the second actuating sensing system, and the load signal, 
 calculate a map of hydraulic capacities for one or more of the first and second actuators based on the first position signal, the second position signal, and the load signal, 
 generate a movement envelope of movement of the pin through at least a portion of the envelope of movement based on the hydraulic capacities, the movement envelope being smaller than the envelope of movement. 
 
 
     
     
       10. The system of  claim 9 , wherein the map of hydraulic capacities comprises a series of nodes representing the hydraulic capacities of one or more of the first and the second actuators throughout the envelope in real-time. 
     
     
       11. The system of  claim 10 , wherein the movement envelope comprises a lift path of the pin from a first pin position to a second pin position through nodes with sufficient hydraulic capacity. 
     
     
       12. The system of  claim 9 , wherein the envelope is displayed on a user input interface through a color code based on a degree of hydraulic capacity. 
     
     
       13. The system of  claim 9 , wherein the load measuring device comprises a first load measuring sensor coupled to the first section, and a second load measuring sensor coupled to the second section. 
     
     
       14. The system of  claim 9 , wherein the system further comprises an inclination sensor coupled to the work machine, the inclination sensor determining the inclination of the horizontal longitudinal axis of the work machine and generating an inclination signal, the controller modifying the load signal based on the inclination signal. 
     
     
       15. The system of  claim 10 , wherein the controller is configured to inhibit movement of the pin to a plurality of nodes within the envelope of movement, the plurality of nodes having insufficient hydraulic capacity for the payload. 
     
     
       16. A method of an intelligent mechanical linkage performance of a work machine for movement of a payload, the work machine having a frame with a ground-engaging mechanism configured to support the frame on a surface, a boom assembly coupled to the frame, the boom assembly having a first section pivotally coupled to the frame and moveable relative to the frame by a first actuator, a first boom position sensor coupled to the first section; a second section pivotally coupled to the first section and moveable relative to the first section be a second actuator, a second boom position sensor coupled to the second section; and a pin coupled to the second section at a location distal from the first section, the pin having an envelope throughout which the pin is moveable by the first section and the second section, the method comprising:
 transmitting a first position signal from the first boom position sensor, a second position signal from the second boom position sensor, and a load signal from a load measuring device coupled to the boom assembly and configured to generate a signal indicative of a payload, to a controller located on the work machine; 
 receiving the first position signal, the second position signal, and the load signal by the controller; 
 determining a relative position of the pin within the envelope of movement by the controller based on the first position signal and the second position signal; 
 calculating a map of hydraulic capacities for one or more of the first and second actuators based on the load signal and the relative position of the pin by the controller wherein the controller extrapolates values throughout the envelope of movement from the relative position of the pin, the load signal, and a theoretical performance data module; and 
 generating a movement envelope of movement of the pin through at least a portion of an envelope of movement based on the hydraulic capacities, the movement envelope being smaller than the envelope of movement. 
 
     
     
       17. The method of  claim 16 , further comprising:
 transmitting an inclination signal from an inclination sensor coupled to the work machine, the inclination sensor determining the inclination of the horizontal longitudinal axis of the work machine; 
 receiving the inclination signal by the controller; and 
 modifying the load signal based on the inclination signal by the controller. 
 
     
     
       18. The method of  claim 16 , wherein the map of hydraulic capacities comprises a series of nodes representing the hydraulic capacities of one or more of the first and the second actuators throughout the envelope in real-time. 
     
     
       19. The method of  claim 18 , wherein the movement envelope further comprises a lift path of the pin from a first pin position to a second pin position through nodes with sufficient hydraulic capacity. 
     
     
       20. The method of  claim 16  further comprising:
 displaying the envelope on a user input interface through a color code based on a degree of hydraulic capacity.